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Almost Disturbance Decoupling for HOFA Nonlinear Systems with Strict-Feedback Form

WANG Na1, LIU Xiaoping1,2, LIU Cungen1, WANG Huanqing3, ZHOU Yucheng1   

  1. 1. School of Information and Electrical Engineering, Shandong Jianzhu University, Jinan 250101, China;
    2. Faculty of Engineering, Lakehead University, Thunder Bay, ON P7B 5E1, Canada;
    3. The Department of Mathematics, Bohai University, Jinzhou 121013, China
  • Received:2022-01-07 Revised:2022-01-20 Published:2022-04-13
  • Contact: LIU Cungen. Email: littleeggs@sdjzu.edu.cn
  • Supported by:
    This research was supported by the Taishan Scholar Project of Shandong Province of China under Grant Nos. 2015162 and tsqn201812093.

WANG Na, LIU Xiaoping, LIU Cungen, WANG Huanqing, ZHOU Yucheng. Almost Disturbance Decoupling for HOFA Nonlinear Systems with Strict-Feedback Form[J]. Journal of Systems Science and Complexity, 2022, 35(2): 481-501.

The article is devoted to the almost disturbance decoupling problem for high-order fully actuated (HOFA) nonlinear systems with strict-feedback form. Using the full-actuation feature of high-order fully actuated systems and Lyapunov stability theory, a state feedback control law and virtual control laws are designed. The unknown disturbances are handled by almost disturbance decoupling (ADD) method. Finally, the effectiveness of the control strategy is verified by stability analysis and simulation.
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